基于运动补偿的小型无人机云台控制器设计方法

云台安装的摄像机可用于基于视觉的小型无人机目标跟踪与定位。分析了无人机平移和旋转运动对目标在图像平面成像的影响，推导了机体角速度与云台姿态角速度转换矩阵，设计基于运动补偿的云台控制器将无人机速度和机体角速度引入云台控制器输入，补偿因无人机运动引起的摄像机视线改变，并利用目标在图像平面的位置偏差修正摄像机跟踪误差。仿真实验表明所设计的云台控制器可提高目标跟踪精度，减少云台抖动。

Motion compensation based gimbal controller design for small UAV

A gimbaled camera can be used in vision-based target tracking and geolocation on small unmanned aerial vehicles(UAV).The effect of camera rotation and translation on target's image movement on an image plane is analyzed,the transfer matrix between UAV's body rates and gimbal attitude rates is inferred,a gimbal controller is designed which uses UAV's velocity and body rates as feedback to compensate camera's line-of-sight change,and the target's position on the image plane is used to correct the gimbal angle...